CoolFace
Modelpublic

fruityapplebottom/ACT_PickNPlace_YellowDuck

sourceHugging Faceapache-2.0updated 10mo agoView on Hugging Face
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config.json78 linesDownload Raw Back to root
1{2    "type": "act",3    "n_obs_steps": 1,4    "input_features": {5        "observation.state": {6            "type": "STATE",7            "shape": [8                99            ]10        },11        "observation.images.front": {12            "type": "VISUAL",13            "shape": [14                3,15                480,16                64017            ]18        },19        "observation.images.wrist": {20            "type": "VISUAL",21            "shape": [22                3,23                640,24                48025            ]26        },27        "observation.images.top": {28            "type": "VISUAL",29            "shape": [30                3,31                480,32                64033            ]34        }35    },36    "output_features": {37        "action": {38            "type": "ACTION",39            "shape": [40                941            ]42        }43    },44    "device": "mps",45    "use_amp": false,46    "push_to_hub": true,47    "repo_id": "fruityapplebottom/ACT_PickNPlace_YellowDuck",48    "private": null,49    "tags": null,50    "license": null,51    "pretrained_path": null,52    "chunk_size": 100,53    "n_action_steps": 100,54    "normalization_mapping": {55        "VISUAL": "MEAN_STD",56        "STATE": "MEAN_STD",57        "ACTION": "MEAN_STD"58    },59    "vision_backbone": "resnet18",60    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",61    "replace_final_stride_with_dilation": false,62    "pre_norm": false,63    "dim_model": 512,64    "n_heads": 8,65    "dim_feedforward": 3200,66    "feedforward_activation": "relu",67    "n_encoder_layers": 4,68    "n_decoder_layers": 1,69    "use_vae": true,70    "latent_dim": 32,71    "n_vae_encoder_layers": 4,72    "temporal_ensemble_coeff": null,73    "dropout": 0.1,74    "kl_weight": 10.0,75    "optimizer_lr": 1e-05,76    "optimizer_weight_decay": 0.0001,77    "optimizer_lr_backbone": 1e-0578}